Let’s go back to the Chicago Auto Show in February 1997, where Lexus introduced the SLV sport luxury concept as a preview of the upcoming RX crossover:

The eventual production model followed the next year, going on sale in March 1998. The RX 300 was built on the same unibody platform as the ES 300, and would go on to transform both Lexus and the luxury automotive market as a whole.

(The RX has been the best selling Lexus since its launch. In 2017, the RX and the NX compact crossover made up 50% of all Lexus sales in the USA.)